SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 99 * Raw log
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• Previous call tries 1 • 28.75 of 310.00 AH used of 24V (90.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 1.14 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 406.70, SM_CC=320) • surface range 18.8 m at 19.6 m depth, ceiling 0.8 m
• GPS1 time: 32 s • bottom range 6.8 m at 371.8 m, depth 379 m (500 m grid)
• GPS2 time: 15 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
16 end surface: CONTROL_FINISHED_OK
16 begin dive
17 - - - 81 VBD -0.79 - - 71 - - - 2146 - -146.0 -61.90 - 3019 - - - - - - - - 15.07 - 15.10
83 4.2 -11.7 11 106 roll -0.79 12.20 0.294 2218 176.0 2.38 0.088 3539 585.3 -146.0 -6.82 - 3409 -57.2 - - - - - - - 14.73 14.04 14.85
240 43.3 -19.3 42 248 done -0.79 0.05 0.249 2230 240.0 2.33 0.039 2124 -607.3 -146.0 - - 3410 - - - - - - - - 14.85 14.96 14.95
307 55.6 -18.1 55 313 roll -0.79 - - 2230 - 2.30 0.065 725 -608.3 -146.0 - - 3410 - - - - - - - - 15.16 14.92 15.16
342 62.4 -18.8 62 349 done -0.79 - - 2228 - 2.30 0.050 2117 605.2 -146.0 - - 3410 - - - - - - - - 14.97 14.93 14.99
409 74.3 -17.6 75 415 roll -0.79 - - 2228 - 2.42 0.073 3539 587.6 -146.0 - - 3410 - - - - - - - - 15.19 14.97 15.19
480 85.8 -16.6 89 486 done -0.79 - - 2228 - 2.30 0.037 2132 -611.7 -146.0 - - 3410 - - - - - - - - 15.05 15.01 15.07
546 97.2 -18.0 102 551 done -0.79 - - 2228 - - - 2131 - -146.0 - - 3410 - - - - - - - - 15.19 15.20 15.19
610 108.3 -16.7 115 611 done -0.79 - - 2228 - - - 2132 - -146.0 - - 3410 - - - - - - - - 15.21 15.21 15.21
670 117.7 -15.0 127 671 done -0.79 - - 2228 - - - 2132 - -146.0 - - 3410 - - - - - - - - 15.21 15.21 15.21
730 126.7 -15.7 139 737 roll -0.79 - - 2219 - 2.40 0.070 3537 585.4 -146.0 - - 3410 - - - - - - - - 15.20 15.00 15.21
796 137.3 -16.2 152 803 done -0.79 0.03 0.340 2227 266.7 2.30 0.037 2124 -614.3 -146.0 - - 3410 - - - - - - - - 14.88 15.04 15.09
862 147.9 -15.7 165 863 done -0.79 - - 2227 - - - 2124 - -146.0 - - 3410 - - - - - - - - 15.23 15.23 15.23
922 156.8 -14.7 177 929 roll -0.79 - - 2227 - 2.33 0.064 735 -596.1 -146.0 - - 3410 - - - - - - - - 15.23 14.97 15.23
948 161.1 -16.9 182 955 done -0.79 - - 2227 - 2.30 0.048 2133 607.8 -146.0 - - 3410 - - - - - - - - 15.04 15.00 15.06
1014 171.3 -15.8 195 1020 done -0.79 - - 2227 - - - 2133 - -146.0 - - 3410 - - - - - - - - 15.23 15.23 15.23
1079 181.3 -14.4 208 1086 roll -0.79 - - 2227 - 2.38 0.064 726 -591.2 -146.0 - - 3410 - - - - - - - - 15.26 15.00 15.23
1110 185.8 -15.0 214 1117 done -0.79 - - 2227 - 2.30 0.048 2126 608.7 -146.0 - - 3410 - - - - - - - - 15.07 15.04 15.09
1176 195.0 -14.2 227 1182 done -0.79 - - 2227 - - - 2126 - -146.0 - - 3410 - - - - - - - - 15.22 15.22 15.22
1241 204.2 -13.4 240 1248 roll -0.79 - - 2226 - 2.40 0.072 3541 589.6 -146.0 - - 3410 - - - - - - - - 15.23 15.02 15.23
1276 208.8 -13.1 247 1283 done -0.79 - - 2227 - 2.30 0.037 2124 -616.1 -146.0 - - 3410 - - - - - - - - 15.09 15.05 15.10
1343 217.8 -14.1 260 1348 done -0.79 - - 2227 - - - 2124 - -146.0 - - 3410 - - - - - - - - 15.25 15.26 15.25
1407 227.0 -13.6 273 1408 done -0.79 - - 2227 - - - 2124 - -146.0 - - 3410 - - - - - - - - 15.26 15.26 15.26
1468 235.2 -14.0 285 1473 done -0.79 - - 2227 - - - 2124 - -146.0 - - 3410 - - - - - - - - 15.26 15.26 15.27
1532 243.9 -13.1 298 1539 roll -0.79 - - 2227 - 2.33 0.065 729 -598.7 -146.0 - - 3410 - - - - - - - - 15.26 15.04 15.27
1548 246.0 -13.7 301 1555 done -0.79 - - 2227 - 2.30 0.048 2130 609.1 -146.0 - - 3410 - - - - - - - - 15.07 15.06 15.11
1614 254.8 -13.2 314 1621 roll -0.79 - - 2221 - 2.35 0.072 3546 602.6 -146.0 - - 3410 - - - - - - - - 15.26 15.06 15.26
1650 259.5 -13.3 321 1657 done -0.79 - - 2221 - 2.30 0.037 2131 -615.2 -146.0 - - 3410 - - - - - - - - 15.11 15.07 15.13
1717 268.8 -14.4 334 1723 roll -0.79 0.05 0.340 2236 300.0 2.28 0.064 727 -615.8 -146.0 - - 3410 - - - - - - - - 14.97 15.06 15.12
1747 273.1 -13.9 340 1754 done -0.79 - - 2231 - 2.30 0.047 2132 610.9 -146.0 - - 3410 - - - - - - - - 15.07 15.03 15.09
1814 281.9 -13.1 353 1819 done -0.79 - - 2231 - - - 2132 - -146.0 - - 3410 - - - - - - - - 15.27 15.27 15.27
1878 289.5 -11.8 366 1885 roll -0.79 - - 2231 - 2.38 0.073 3528 586.6 -146.0 - - 3410 - - - - - - - - 15.28 15.02 15.28
1909 293.0 -11.6 372 1916 done -0.79 - - 2231 - 2.28 0.037 2127 -614.5 -146.0 - - 3410 - - - - - - - - 15.09 15.09 15.11
1990 302.6 -12.2 385 1995 roll -0.79 - - 2231 - 2.33 0.066 732 -598.7 -146.0 - - 3409 - - - - - - - - 15.28 15.06 15.29
2019 305.3 -12.5 386 2025 done -0.79 - - 2231 - 2.28 0.048 2126 611.4 -146.0 - - 3409 - - - - - - - - 15.11 15.07 15.13
2150 323.2 -13.0 393 2155 roll -0.79 - - 2231 - 2.35 0.065 730 -594.0 -146.0 - - 3409 - - - - - - - - 15.30 15.07 15.30
2170 325.8 -13.1 394 2175 done -0.79 - - 2230 - 2.30 0.048 2134 610.4 -146.0 - - 3409 - - - - - - - - 15.13 15.09 15.15
2310 343.1 -12.1 401 2315 roll -0.79 - - 2230 - 2.38 0.073 3536 589.1 -146.0 - - 3409 - - - - - - - - 15.32 15.08 15.32
2374 350.2 -12.0 404 2380 done -0.79 - - 2230 - 2.28 0.037 2129 -617.1 -146.0 - - 3409 - - - - - - - - 15.14 15.09 15.17
2510 367.3 -12.0 411 2515 roll -0.79 - - 2230 - 2.30 0.067 721 -612.2 -146.0 - - 3408 - - - - - - - - 15.32 15.10 15.33
2539 369.6 -11.8 412 2545 done -0.79 - - 2230 - 2.30 0.048 2126 610.9 -146.0 - - 3408 - - - - - - - - 15.15 15.11 15.17
2551 end dive: BOTTOM_OBSTACLE_DETECTED
2551 begin apogee
2555 371.8 -11.6 413 2672 done -0.17 0.98 0.150 2430 204.1 - - 1928 - - 110.57 1.456 2812 -5.4 0.242 - - - - - - 15.05 14.46 14.02
2673 end apogee: CONTROL_FINISHED_OK
2673 begin climb
2674 375.8 - 419 2797 roll 0.79 1.38 0.083 2730 217.4 2.40 0.071 560 -570.0 146.0 112.15 1.434 2214 -5.3 0.246 - - - - - - 14.57 14.42 13.93
2951 360.7 9.4 433 2967 done 0.80 - - 2729 - 2.30 0.044 1954 606.1 158.3 10.60 1.268 2166 -4.5 0.227 - - - - - - 14.87 14.82 14.21
3091 348.1 8.6 440 3122 roll 0.84 - - 2730 - 2.40 0.073 565 -578.8 187.6 24.15 1.375 2044 -5.1 0.225 - - - - - - 15.09 14.73 14.23
3141 344.8 8.4 442 3177 done 0.88 0.10 0.096 2784 540.0 2.30 0.044 1960 606.5 222.5 29.08 1.359 1903 -4.8 0.217 - - - - - - 14.81 14.80 14.13
3311 323.0 12.6 451 3317 roll 0.88 - - 2785 - 2.38 0.068 3343 581.1 222.5 - - 1898 - - - - - - - - 15.06 14.84 15.06
3381 314.6 13.7 454 3387 done 0.88 - - 2786 - 2.30 0.046 1964 -599.6 222.5 - - 1897 - - - - - - - - 14.90 14.88 14.92
3506 296.1 13.1 463 3513 roll 0.88 - - 2787 - 2.40 0.076 550 -589.2 222.5 - - 1895 - - - - - - - - 15.16 14.94 15.16
3547 290.7 12.9 471 3554 done 0.88 0.03 0.344 2782 -166.7 2.28 0.044 1948 613.2 222.5 - - 1895 - - - - - - - - 14.84 14.98 14.96
3614 282.5 12.0 484 3620 roll 0.88 - - 2786 - 2.40 0.076 549 -582.9 222.5 - - 1895 - - - - - - - - 15.19 14.96 15.19
3659 276.8 12.4 493 3666 done 0.88 - - 2786 - 2.28 0.045 1943 611.4 222.5 - - 1895 - - - - - - - - 15.04 15.00 15.05
3725 269.4 10.8 506 3732 roll 0.88 - - 2786 - 2.33 0.067 3353 605.2 222.5 - - 1895 - - - - - - - - 15.20 15.00 15.20
3751 266.5 11.1 511 3758 done 0.88 - - 2786 - 2.33 0.047 1947 -603.4 222.5 - - 1895 - - - - - - - - 15.05 15.01 15.06
3817 259.8 10.0 524 3823 roll 0.88 - - 2787 - 2.33 0.076 551 -599.1 222.5 - - 1895 - - - - - - - - 15.21 15.00 15.21
3867 254.7 10.3 534 3875 done 0.88 0.03 0.343 2782 -166.7 2.30 0.044 1964 614.3 222.5 - - 1894 - - - - - - - - 14.88 15.02 15.01
3934 247.8 10.0 547 3940 roll 0.88 - - 2782 - 2.33 0.067 3342 591.4 222.8 - - 1894 - - - - - - - - 15.22 15.00 15.23
3964 244.7 10.5 553 3971 done 0.88 - - 2782 - 2.30 0.046 1944 -607.8 222.8 - - 1894 - - - - - - - - 15.07 15.03 15.09
4031 238.1 10.0 566 4036 done 0.88 - - 2781 - - - 1944 - 222.8 - - 1894 - - - - - - - - 15.23 15.23 15.23
4095 232.0 8.9 579 4119 roll 0.91 - - 2782 - 2.40 0.076 547 -582.1 246.0 18.92 1.262 1807 -4.6 0.149 - - - - - - 15.23 14.91 14.38
4149 227.5 9.3 589 4167 done 0.93 - - 2782 - 2.25 0.044 1947 622.2 261.1 13.65 1.198 1746 -4.5 0.149 - - - - - - 15.04 14.96 14.34
4226 219.7 10.8 604 4232 done 0.93 - - 2782 - - - 1947 - 261.1 - - 1741 - - - - - - - - 15.09 15.09 15.09
4291 212.8 10.6 617 4298 roll 0.93 - - 2781 - 2.42 0.076 546 -578.9 261.1 - - 1743 - - - - - - - - 15.13 14.85 15.13
4327 209.9 9.2 624 4350 done 0.95 - - 2781 - 2.33 0.047 1944 600.0 279.1 15.73 1.194 1673 -4.5 0.138 - - - - - - 14.98 14.95 14.34
4409 200.4 10.9 640 4416 roll 0.95 - - 2782 - 2.42 0.067 3361 585.5 279.1 - - 1671 - - - - - - - - 15.09 14.88 15.09
4470 193.4 11.6 652 4477 done 0.95 - - 2782 - 2.35 0.047 1948 -601.3 279.1 - - 1669 - - - - - - - - 14.97 14.92 14.99
4536 186.0 10.9 665 4542 roll 0.95 - - 2781 - 2.35 0.077 549 -595.3 279.1 - - 1670 - - - - - - - - 15.13 14.89 15.14
4566 182.9 9.4 671 4585 done 0.97 - - 2782 - 2.30 0.044 1951 609.6 292.0 11.77 1.115 1619 -4.3 0.125 - - - - - - 14.95 14.92 14.38
4644 174.3 11.1 686 4649 done 0.97 - - 2782 - - - 1952 - 292.0 - - 1618 - - - - - - - - 15.11 15.11 15.11
4709 167.8 9.4 699 4727 roll 0.98 - - 2782 - 2.40 0.076 540 -588.3 305.7 12.73 1.115 1563 -4.3 0.114 - - - - - - 15.14 14.80 14.36
4771 161.5 10.6 711 4778 done 0.98 - - 2782 - 2.28 0.044 1951 618.9 305.7 - - 1562 - - - - - - - - 14.95 14.88 14.95
4837 154.6 10.9 724 4843 done 0.98 - - 2782 - - - 1951 - 305.7 - - 1561 - - - - - - - - 15.11 15.12 15.12
4902 148.0 10.2 737 4902 done 0.98 - - 2782 - - - 1951 - 305.7 - - 1561 - - - - - - - - 15.14 15.14 15.14
4962 142.4 8.9 749 4991 roll 1.01 0.08 0.185 2840 725.0 2.42 0.077 550 -578.9 330.3 21.27 1.150 1463 -4.6 0.100 - - - - - - 14.97 14.82 14.36
5025 133.9 13.6 761 5032 done 1.01 0.10 0.197 2818 -220.0 2.30 0.044 1948 607.8 330.3 - - 1462 - - - - - - - - 14.81 14.88 14.88
5091 126.2 11.0 774 5098 roll 1.01 - - 2818 - 2.40 0.070 3344 581.7 330.3 - - 1460 - - - - - - - - 15.09 14.84 15.09
5127 122.5 11.3 781 5134 done 1.01 - - 2818 - 2.33 0.047 1953 -597.0 330.3 - - 1460 - - - - - - - - 14.91 14.87 14.93
5194 113.5 12.9 794 5200 roll 1.01 - - 2823 - 2.38 0.078 545 -591.6 330.3 - - 1461 - - - - - - - - 15.13 14.92 15.13
5224 109.5 13.4 800 5231 done 1.01 - - 2822 - 2.30 0.044 1944 608.3 330.3 - - 1460 - - - - - - - - 14.99 14.94 15.00
5290 101.3 12.9 813 5296 done 1.01 - - 2822 - - - 1944 - 330.3 - - 1460 - - - - - - - - 15.14 15.14 15.14
5355 93.1 12.6 826 5355 done 1.01 - - 2822 - - - 1944 - 330.3 - - 1460 - - - - - - - - 15.15 15.16 15.16
5415 85.5 12.9 838 5421 done 1.01 - - 2822 - - - 1944 - 330.3 - - 1460 - - - - - - - - 15.16 15.16 15.16
5480 77.1 12.7 851 5486 roll 1.01 - - 2822 - 2.38 0.068 3341 587.0 330.3 - - 1459 - - - - - - - - 15.17 14.97 15.17
5530 70.7 12.6 861 5537 done 1.01 - - 2825 - 2.30 0.047 1954 -603.0 330.3 - - 1459 - - - - - - - - 15.03 14.99 15.04
5597 63.3 10.6 874 5602 done 1.01 - - 2825 - - - 1954 - 330.3 - - 1459 - - - - - - - - 15.19 15.19 15.19
5661 56.3 10.9 887 5668 roll 1.01 - - 2825 - 2.40 0.078 551 -584.6 330.3 - - 1459 - - - - - - - - 15.20 14.93 15.20
5702 52.1 10.9 895 5709 done 1.01 - - 2825 - 2.30 0.044 1955 610.4 330.3 - - 1459 - - - - - - - - 15.01 14.97 15.02
5768 44.6 10.8 908 5774 done 1.01 - - 2825 - - - 1955 - 330.3 - - 1459 - - - - - - - - 15.20 15.21 15.20
5833 37.9 10.4 921 5834 done 1.01 - - 2825 - - - 1955 - 330.3 - - 1458 - - - - - - - - 15.20 15.21 15.21
5894 31.9 9.6 933 5906 roll 1.02 - - 2825 - 2.42 0.075 545 -582.6 339.2 7.50 0.838 1430 -3.7 0.025 - - - - - - 15.21 14.92 14.50
6000 21.9 9.0 954 6019 done 1.05 - - 2825 - 2.30 0.042 1957 613.9 360.7 14.20 0.962 1340 -6.3 0.025 - - - - - - 15.03 15.00 14.49
6077 14.3 11.0 969 6078 done 1.05 - - 2825 - - - 1957 - 360.7 - - 1337 - - - - - - - - 15.13 15.14 15.14
6138 9.2 8.0 981 6167 roll 1.11 - - 2825 - 2.45 0.076 549 -574.7 404.3 25.20 0.884 1159 -7.1 0.013 - - - - - - 15.16 14.84 14.47
6186 4.2 10.3 990 6193 done 1.11 - - 2825 - 2.33 0.046 1950 601.3 404.3 - - 1158 - - - - - - - - 14.87 14.84 14.89
6201 end climb: SURFACE_DEPTH_REACHED
6201 begin surface coast
6231 end surface coast: CONTROL_FINISHED_OK
6232 begin surface
SM 1.05 - - - - -7.30 12.40 0.052 129 10.4 0.28 0.064 2172 -3235.7 406.70 - - 1154 - - - - - - - -